Basic Info

Description of contribution in a few bullet points

• Prevent the navigate_to_pose from failing due to a global planner failure while the local planner is running.

Description of documentation updates required from your changes

Description of how this change was tested

Trigger a situation where the global path cannot be generated by updating the global path through the RateController while the local planner is running.
I recreated this scenario by creating a narrow passage that is just wide enough not to be considered an obstacle due to cost, and attempted to make the robot pass through it.

Future work that may be required in bullet points

I'm also thinking we could adjust the return value of the RecoveryNode / RateController in this situation so that the PipelineSequence state is reset and we start from a clean place again so that FollowPath isn't considered running. That is the most clean solution if possible.
#4964 (comment)

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
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